NAV::vendor::vectornav::GnssOutputs Struct Reference

Binary Group 4 – GNSS1 Outputs / Binary Group 7 – GNSS2 Outputs. More...

Public Attributes
DOP	dop
	Dilution of precision values.
uint8_t	fix
	GNSS fix.
vn::protocol::uart::GpsGroup	gnssField
	Available data in this struct.
uint8_t	numSats
	Number of tracked satellites.
Eigen::Vector3d	posEcef
	GNSS position (ECEF)
Eigen::Vector3d	posLla
	GNSS position (latitude, longitude, altitude)
Eigen::Vector3f	posU
	GNSS position uncertainty (NED)
RawMeas	raw
	GNSS Raw Measurements.
SatInfo	satInfo
	Satellite Information.
TimeInfo	timeInfo
	GNSS time status and leap seconds.
float	timeU
	GNSS time uncertainty.
UTC	timeUtc
	GPS UTC Time.
uint64_t	tow
	GPS time of week.
Eigen::Vector3f	velEcef
	GNSS velocity (ECEF)
Eigen::Vector3f	velNed
	GNSS velocity (NED)
float	velU
	GNSS velocity uncertainty.
uint16_t	week
	GPS week.

Detailed Description

Binary Group 4 – GNSS1 Outputs / Binary Group 7 – GNSS2 Outputs.

Member Data Documentation

fix

uint8_t NAV::vendor::vectornav::GnssOutputs::fix

GNSS fix.

The current GNSS fix. 0 - No fix 1 - Time only 2 - 2D 3 - 3D 4 - SBAS 7 - RTK Float (only GNSS1) 8 - RTK Fixed (only GNSS1)

numSats

uint8_t NAV::vendor::vectornav::GnssOutputs::numSats

Number of tracked satellites.

The number of tracked GNSS satellites.

posEcef

Eigen::Vector3d NAV::vendor::vectornav::GnssOutputs::posEcef

GNSS position (ECEF)

The current GNSS position given in the Earth centered Earth fixed (ECEF) coordinate frame, given in meters.

posLla

Eigen::Vector3d NAV::vendor::vectornav::GnssOutputs::posLla

GNSS position (latitude, longitude, altitude)

The current GNSS position measurement given as the geodetic latitude, longitude and altitude above the ellipsoid. The units are in [deg, deg, m] respectively.

posU

Eigen::Vector3f NAV::vendor::vectornav::GnssOutputs::posU

GNSS position uncertainty (NED)

The current GNSS position uncertainty in the North East Down (NED) coordinate frame, given in meters (1 Sigma).

raw

RawMeas NAV::vendor::vectornav::GnssOutputs::raw

GNSS Raw Measurements.

Raw measurements pertaining to each GNSS satellite in view.

satInfo

SatInfo NAV::vendor::vectornav::GnssOutputs::satInfo

Satellite Information.

Information and measurements pertaining to each GNSS satellite in view.

timeInfo

TimeInfo NAV::vendor::vectornav::GnssOutputs::timeInfo

GNSS time status and leap seconds.

Flags for valid GPS TOW, week number and UTC and current leap seconds.

timeU

float NAV::vendor::vectornav::GnssOutputs::timeU

GNSS time uncertainty.

The current GPS time uncertainty, given in seconds (1 Sigma).

timeUtc

UTC NAV::vendor::vectornav::GnssOutputs::timeUtc

GPS UTC Time.

The current UTC time. The year is given as a signed byte year offset from the year 2000. For example the year 2013 would be given as year 13.

tow

uint64_t NAV::vendor::vectornav::GnssOutputs::tow

GPS time of week.

The GPS time of week given in nano seconds.

velEcef

Eigen::Vector3f NAV::vendor::vectornav::GnssOutputs::velEcef

GNSS velocity (ECEF)

The current GNSS velocity in the Earth centered Earth fixed (ECEF) coordinate frame, given in m/s.

velNed

Eigen::Vector3f NAV::vendor::vectornav::GnssOutputs::velNed

GNSS velocity (NED)

The current GNSS velocity in the North East Down (NED) coordinate frame, given in m/s.

velU

float NAV::vendor::vectornav::GnssOutputs::velU

GNSS velocity uncertainty.

The current GNSS velocity uncertainty, given in m/s (1 Sigma).

week

uint16_t NAV::vendor::vectornav::GnssOutputs::week

GPS week.

The current GPS week.

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The documentation for this struct was generated from the following file:

• /home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/VectorNav/BinaryOutputs/GnssOutputs.hpp